CN104723357B - Robots arm and robot including the robots arm - Google Patents
Robots arm and robot including the robots arm Download PDFInfo
- Publication number
- CN104723357B CN104723357B CN201410643057.3A CN201410643057A CN104723357B CN 104723357 B CN104723357 B CN 104723357B CN 201410643057 A CN201410643057 A CN 201410643057A CN 104723357 B CN104723357 B CN 104723357B
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- CN
- China
- Prior art keywords
- cable
- deflector roll
- pair
- connecting rod
- robots arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/15—Jointed arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20323—Robotic arm including flaccid drive element
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robots arms, it includes the end for being connected to cable and rotatable first joint portion when pulling cable, the second joint portion of the first joint portion is connected to by connecting rod, the cable guiding device that a pair of of deflector roll of swivel plate forms continuously is contacted with the swivel plate and being configured to by being installed in rotation on second joint portion, wherein cable passes through between deflector roll.
Description
Technical field
This disclosure relates to robots arm and the robot including the robots arm.More specifically, this disclosure relates to robot
Arm and robot including the robots arm, prevent the length of cable from being changed by the rotation in the joint in robots arm,
The robots arm has multiple joints by cable actuated.
Background technology
Specifically, robots arm, the wearable robots arm used in industry is installed is usually by multiple connecting rods and pass
Section composition, to be moved together with the arm of wearer.Robots arm adds auxiliary force to the action of wearer, to allow
Wearer is by catching the object of object easily carry heavier.
In the related technical field, motor is provided in each joint of wearable robots arm, therefore, whole
Multiple motor are provided on a arm.But this multiple motor makes the excessive mass of robots arm increase, and when due to
It is overweight and when wearer being made to become fatigue, working efficiency is just remarkably decreased.
Correspondingly, to solve the problems, such as this, in recent years, motor no longer is provided for each joint, and is to provide company
Connect the driving unit of the cable and driving cable in multiple joints.Moreover, multiple joints have led to too small amount of driving unit movement,
Therefore reduce the weight of robots arm.However, to operate specific connecting rod, when by operating machine to cable application tension
When human arm, while the relative angle of connecting rod changes, the length of cable cannot change.
The information above disclosed in present context part be only increase to the present invention background understanding, and therefore its
It is not to be seen as the information and forms confirmation to the relevant technologies known to those skilled in the art.
Invention content
The disclosure has been endeavoured to provide robots arm and the robot with the robots arm, which includes allowing
Cable is by the cable guiding device at the center in joint, and the angle in the joint is changing always, to prevent the line engaged with specific connecting rod
The length of cable changes due to the change of the angle between connecting rod.
In a preferred embodiment, robots arm may include：It is connect with the end of cable to be rotated when pulling cable
The first joint portion；The second joint portion being connect with the first joint portion by connecting rod；With by being rotatably installed in second joint
The swivel plate in portion and being configured to continuously contacts the cable guiding device of a pair of of deflector roll (idle roller) composition of swivel plate, wherein
Cable passes through between deflector roll.
The insertion axis for being inserted into second joint portion is arranged on swivel plate, and is provided in the peripheral surface for being inserted into axis
Bearing.Therefore, second joint portion, which can surround, is inserted into axis rotation.It can be inserted into a pair of guide roller axis in the axial direction of swivel plate, and lead
Roller may be disposed at the end of guide roller axis.This can be configured to protrude outward from swivel plate to deflector roll.This is placed with deflector roll
So that this is located successively on the central axis of swivel plate the point that deflector roll is in contact with each other.This, which can be placed with deflector roll, keeps this right
The point that deflector roll is in contact with each other is located successively on the central axis in second joint portion.Cable can connect deflector roll continually by this
Contact.
Robots arm according to an embodiment of the present disclosure may include：First connecting rod, one end are connected to cable and work as and lead
It is rotated when bracing wire cable；Second connecting rod, one end are rotatably connected to the other end of first connecting rod；Third connecting rod, one end can
It is rotatably coupled to the other end of second connecting rod；And cable guiding device, can the position that second connecting rod and third connecting rod contact with each other from
By rotating, and a pair of deflector roll being in contact with each other is arranged on cable guiding device.
The swivel plate rotated freely can be disposed on the position that second connecting rod and third connecting rod are in contact with each other, and conducting wire
Device is arranged on swivel plate.The contact point of a pair of of deflector roll may be disposed on the central axis of swivel plate.By this to deflector roll
Contact point, cable can be continuously through, and when second connecting rod rotates, and cable surrounds the deflector roll bending as axis.Work as line
When cable is bent, deflector roll is rotatable so that the bending angle of cable is split into two halves by the line for connecting the center of respective deflector roll.
Robot according to an embodiment of the present disclosure may include robots arm, which has connects with the end of cable
Connect the first joint portion to be rotated when pulling the cable, the second joint portion being connect with the first joint portion by connecting rod, and
A pair of of deflector roll on it is configured to the conducting wire continuously contacted with the swivel plate being rotatably disposed in second joint portion
Device.
According to the robots arm with above structure, since the length of cable does not change because of the change of the angle between connecting rod
Become, so the target connecting rod to be operated can be accurately controlled.Further, it because structure is uncomplicated, therefore reduces and operation is lost
The worry lost, and operating force can uniformly and be continuously provided to improve the value of product.
Description of the drawings
It now, will be special with reference to certain exemplary embodiment detailed description of the present invention above and others by attached drawing illustration
Hereinafter only illustratively explanation provides for sign, wherein attached drawing, therefore not limits the present invention, wherein：：
Fig. 1 is the configuration diagram of the robots arm according to embodiment of the disclosure and the robot including the robots arm；
Fig. 2 is according to the robots arm of A-A along embodiment of the disclosure and the robot including the robots arm
Sectional view；And
Fig. 3 is the operation shape for illustrating robots arm according to an embodiment of the present disclosure and the robot including the robots arm
The figure of state.
It should be appreciated that attached drawing is not necessarily drawn to scale, but show the various features for illustrating general principles
Slightly simplify and indicates.The specific design feature of invention disclosed herein, including such as specific dimensions, orientation, location and shape,
Partly determined by expected specific application and use environment.In the accompanying drawings, identical attached through in several figures of attached drawing
Icon note refers to the identical or equivalent elements of the present invention.
Specific implementation mode
Below with detailed reference to the various embodiments of the disclosure, the example of the wherein disclosure be shown in the accompanying drawings and
It is described below.Although the disclosure will be described in conjunction with exemplary embodiments, it should be apparent that this explanation be not intended to by
The disclosure is restricted to those exemplary embodiments.On the contrary, the disclosure is not only intended to covering exemplary embodiment, and cover packet
Include various change in the spirit and scope of the disclosure as defined by the appended claims, modification, it is equivalent and its
His embodiment.
Term used herein is only intended to illustrate specific embodiment, it is not intended to the limitation present invention.It is used herein
Singular intention further includes plural form, unless the context clearly indicates otherwise.It will be further understood that when being used in this specification
When middle, the feature of the specified statement of term " comprising ", integer, step, operation, the presence of element and/or component, but be not precluded
One or more of the other feature, integer, step, operation, the presence or increase of element, component and/or combination thereof.Here make
Term "and/or" includes any or all of combination of one or more relevant listed terms.
Hereinafter, the preferred of the robots arm of the disclosure and the robot including the robots arm will be described with reference to the drawings
Embodiment.
Fig. 1 is the configuration diagram of the robots arm according to embodiment of the disclosure and the robot including the robots arm.Root
Robots arm according to embodiment of the disclosure and the robot including the robots arm include：It is connect simultaneously with the end of cable 200
And the first joint portion 120 rotated when pulling cable 200；The second joint portion of the first joint portion 120 is connected to by connecting rod
140；With by be rotatably installed in second joint portion 140 swivel plate 310 and be configured to continuously contact with the one of swivel plate 310
To the cable guiding device 300 that deflector roll 331 forms, wherein cable 200 passes through between deflector roll 331.
In more detail, robots arm includes first connecting rod 110, second connecting rod 130 and third connecting rod 150, and be may include：
The first pass be made of with one end of second connecting rod 130 one end of first connecting rod 110, with the through-hole for waiting for being combined with joint pin
Section portion 120, and the also second joint with through-hole that is made of the other end of second connecting rod 130 and one end of third connecting rod 150
Portion 140.When pulling cable 200, cable 200 is used for making 110 turns of the first joint portion 120 and first connecting rod on the direction of drawing
It is dynamic.Clamper (not shown) or other connecting rods can be set at first connecting rod 110, and the other end of third connecting rod 150 can be tied
The top (not shown) of the robot of mounting robot arm is closed, or is rejoined with another connecting rod.Selectively, second joint
The engageable top to robot in portion 140.
Meanwhile second connecting rod 130 is connect with the other cable 200 in addition to above-mentioned cable 200, therefore, when by leading
When other cable 200 being drawn to apply external force, the central point that second connecting rod 130 can surround second joint portion 140 rotates, and is revolving
When turning, second connecting rod 130 forms scheduled angle with third connecting rod 150.Therefore, in robot according to an embodiment of the present disclosure
In arm, though the angulation change between second connecting rod 130 and third connecting rod 150, but in order to prevent therefore cable 200 generates
Length variation, at second joint portion 140 be provided with cable guiding device 300, to, allow cable 200 continually by second close
The central point in section portion 140, and it is unrelated with the rotation in second joint portion 140.
The construction of the cable guiding device 300 for operating above is described in further detail in Fig. 2, wherein being inserted into second joint portion
140 insertion axis 311 is arranged on swivel plate 310, and is provided with bearing 312 in the peripheral surface for being inserted into axis 311.Cause
This, second joint portion 140 and third joint are configured to pivot around axis 311 is inserted into.
There are one the surfaces being externally exposed for the tool of swivel plate 310, and another surface is towards in second joint portion 140
Portion.It can be the cylindrical panel formed along the peripheral surface of swivel plate 310 to be inserted into axis 311, or can be formed as revolving
On another surface of flap the rodlike of cylinder is extended internally towards second joint portion 140.The shape for being inserted into axis 311 can
To be applied in each embodiment.
Meanwhile in the axial direction of swivel plate 310, a pair of of guide roller axis 330 with pole shape is inserted into, and deflector roll
331 are preferably provided in the end of guide roller axis 330.Further, this is preferably provided to from swivel plate 310 deflector roll 331
It protrudes outward.Therefore, when guide roller axis 330 is inserted into swivel plate 310, one end is exposed to outside, and deflector roll 331 is pacified
Mounted in the end exposed.Deflector roll 331 can be the deflector roll 331 or deflector roll separated made of the material different from guide roller axis
331 can form protrusion on the end of guide roller axis 330 by the peripheral surface along guide roller axis 330 by configure.Further, it leads
Roll shaft 330 can be inserted into swivel plate 310 from outside or can be protruded from swivel plate 310.
Meanwhile this is preferably placed to deflector roll 331 so that this is located successively in rotation to the point that deflector roll 331 is in contact with each other
On the central axis of flap 310.For this purpose, guide roller axis 330 and deflector roll 331 are preferably placed to around the center of swivel plate 310
Axis 400 is facing with each other.Further, this is preferably placed to deflector roll 331 so that the point being in contact with each other to deflector roll 331
It is located successively on the central axis in second joint portion 140.In addition, cable 200 be preferably configured to it is right continually by this
The contact point of deflector roll 331.That is, make cable 200 be positioned to continually by this between deflector roll 331.
Therefore, the central axis 400 of swivel plate 310 is continuously overlapped with the central axis in second joint portion 140, and line
In central axis 400 and second connecting rod 130 and third connecting rod 150 that cable 200 passes through continuously rotatable swivel plate 310
Mandrel line.Therefore, cable 200 can be continually by scheduled point without any shadow by the rotation from second joint portion 140
It rings.
Fig. 3 is the figure for showing the mode of operation of robots arm according to an embodiment of the present disclosure.As described above, cable 200
It is configured to connect with first connecting rod 110, and passes through between a pair of of deflector roll 331.Fig. 3 (A) shows second connecting rod 130 and
The case where three-link 150 is located on the same line, and cable 200 is by central axis 400 of swivel plate 310.Then, when
When two connecting rods 130 are rotated by external force, such as rotation shown in Fig. 3 (B) of second connecting rod 130, and first connecting rod also moves together, and
Therefore, cable 200 is bent around deflector roll 331.In this case, when cable 200 is bent, swivel plate 310 also rotates together,
And as described above, swivel plate 310 can be rotated relative to second joint portion 140, and deflector roll 331 passes through the power of cable 200
Balance is located successively in the bending part of cable 200.Therefore, regardless of the bending angle of cable 200,331 continuous status of deflector roll
Center in the bending part of cable 200.It is formed by cable 200 that is, the line at the center of connection a pair of deflector roll 331 is continuously divided equally
Angle.
Swivel plate 310 can rotate, and because deflector roll 331 is formed as a pair of, therefore, no matter the curvature of cable 200
With bending direction (for example, clockwise and counterclockwise) how, cable 200 is supported on both sides.Therefore, cable
200 can be by the central axis 400 of swivel plate 310, and when not pulling cable 200, even if cable 200 is bent, plays initial position
It is still located on the central axis 400 of swivel plate 310 in the point of the cable 200 on the central axis 400 of swivel plate 310.Correspondingly,
Since the point from the cable 220 on the central axis 400 of swivel plate 310 is until the end that is connect with first connecting rod 110
Length is kept substantially constant, so, even if cable 200 can prevent failure if bending due to the rotation of second connecting rod 130
And/or maloperation.
Meanwhile in the case where the diameter of deflector roll 331 is excessive, the bending angle of cable 200 is with regard to big, when cable 200 is in deflector roll
When being moved in 331 peripheral surface, the length of cable 200 may change.Therefore, the diameter of deflector roll 331 is preferably set in this way
Value, that is, make the length generated by peripheral surface variation minimum in the permissible range of the bending angle of cable 200
Value.
According to the robots arm with above structure, because of the length stays constant of cable 200, with the angle of connecting rod without
It closes, so the target connecting rod to be operated can be accurately controlled.Moreover, the structure is uncomplicated, therefore, the worry to failure is reduced,
And uniform operating force can be continuously provided, to improve the value of product.
Present disclosure is described in detail with reference to preferred embodiment.However, it should be appreciated by those skilled in the art,
In the case where not departing from the principle and spirit of the present invention, can be changed in these embodiments, the scope of the present invention is by institute
Attached claim and its equivalents.
Claims (11)
1. a kind of robots arm, including：
First joint portion is connected to the end of cable and rotatable when pulling the cable；
Second joint portion is connected to first joint portion by connecting rod；And
Cable guiding device, by being installed in rotation on the swivel plate in the second joint portion and being configured to continuously contact the rotation
A pair of of deflector roll of plate forms, wherein the cable passes through between the deflector roll,
The point that the pair of deflector roll is positioned to that the pair of deflector roll is made to contact with each other wherein is located successively in the swivel plate
On central axis.
2. robots arm according to claim 1 is inserted into the second joint wherein being provided on the swivel plate
The insertion axis in portion, and the peripheral surface for being inserted into axis is provided with bearing so that the second joint portion can surround described
It is dynamic to be inserted into shaft rotation.
3. robots arm according to claim 2, wherein a pair of of guide roller axis is inserted into the axis direction of the swivel plate, and
And each of the pair of deflector roll is separately positioned on one end in the pair of guide roller axis.
4. robots arm according to claim 1, wherein the pair of deflector roll is configured to from the swivel plate to evagination
Go out.
5. robots arm according to claim 1, wherein the pair of deflector roll is positioned to keep the pair of deflector roll mutual
The point of contact is located successively on the central axis in the second joint portion.
6. robots arm according to claim 1, wherein contact point of the cable continually by the pair of deflector roll.
7. a kind of robots arm, including：
One end of first connecting rod, the first connecting rod connect with cable and is rotated when pulling the cable；
Second connecting rod, one end of the second connecting rod are pivotally connected to the other end of the first connecting rod；
Third connecting rod, one end of the third connecting rod are pivotally connected to the other end of the second connecting rod；And
Cable guiding device, the cable guiding device are rotated freely in the position that the second connecting rod and the third connecting rod interconnect, and
A pair of deflector roll being in contact with each other is provided on the cable guiding device,
The point that the pair of deflector roll is positioned to that the pair of deflector roll is made to contact with each other wherein is located successively in the swivel plate
On central axis.
8. robots arm according to claim 7, wherein the swivel plate rotated freely be disposed in the second connecting rod and
The position that the third connecting rod interconnects, and the cable guiding device is arranged on the swivel plate.
9. robots arm according to claim 7, wherein contact point of the cable continuously through the pair of deflector roll,
And when the second connecting rod rotates, the cable is bent around one or more of the pair of deflector roll as axis.
10. robots arm according to claim 9, wherein when the cable bend, one in the pair of deflector roll
Or multiple rotations so that the line for connecting the center of one or more of the pair of deflector roll divides the bending angle of the cable
Into two.
11. a kind of robot including robots arm, the robots arm has the end for being connected to cable and in drawing institute
Rotatable first joint portion when cable is stated, second joint portion and the cable guiding device of first joint portion are connected to by connecting rod,
On the cable guiding device, a pair of of deflector roll is configured to continuously contact the rotation being rotatably disposed in the second joint portion
Plate, wherein the point that the pair of deflector roll is positioned to that the pair of deflector roll is made to contact with each other is located successively in the swivel plate
On mandrel line.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR20130158790A KR101510020B1 (en) | 2013-12-18 | 2013-12-18 | Robot arm |
| KR10-2013-0158790 | 2013-12-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104723357A CN104723357A (en) | 2015-06-24 |
| CN104723357B true CN104723357B (en) | 2018-10-23 |
Family
ID=53032719
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410643057.3A Active CN104723357B (en) | 2013-12-18 | 2014-11-07 | Robots arm and robot including the robots arm |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US9669541B2 (en) |
| JP (1) | JP2015116661A (en) |
| KR (1) | KR101510020B1 (en) |
| CN (1) | CN104723357B (en) |
| DE (1) | DE102014221518B4 (en) |
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| US11707854B2 (en) | 2020-09-18 | 2023-07-25 | Boston Dynamics, Inc. | Omega wire routing |
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2013
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2014
- 2014-08-27 JP JP2014173025A patent/JP2015116661A/en active Pending
- 2014-10-14 US US14/513,848 patent/US9669541B2/en active Active
- 2014-10-23 DE DE102014221518.8A patent/DE102014221518B4/en active Active
- 2014-11-07 CN CN201410643057.3A patent/CN104723357B/en active Active
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| CN101323110A (en) * | 2008-07-10 | 2008-12-17 | 上海交通大学 | Large angle rotary type joint mechanism of mechanical arm |
| CN102281831A (en) * | 2008-12-23 | 2011-12-14 | 马科外科公司 | Transmission with first and second transmission elements |
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Also Published As
| Publication number | Publication date |
|---|---|
| US9669541B2 (en) | 2017-06-06 |
| CN104723357A (en) | 2015-06-24 |
| JP2015116661A (en) | 2015-06-25 |
| US20150165618A1 (en) | 2015-06-18 |
| DE102014221518A1 (en) | 2015-06-18 |
| DE102014221518B4 (en) | 2020-06-10 |
| KR101510020B1 (en) | 2015-04-07 |
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